• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.72-78
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• 2009

We propose the separation algorithm to simultaneously measure two-dimensional refractive index distribution and thickness profile of transparent samples using three wavelengths. The optical system was based on the Mach-zehnder interferometer with LD (Laser Diode)-based multi-wavelength sources. A LCR (Liquid Crystal Retarder) was used to obtain interference images at four phase states and then the optical phase of the object is calculated by four-bucket algorithm. Experimental results with a glass rod are provided at the different wavelengths of 635nm, 660nm and 675nm. The refractive indices of the sample are distributed with accuracy of less than 0.0005 and the thickness profile of sample was cylindrical type. This result demonstrates that it is possible to separate refractive index distribution and thickness profile of samples in two dimensions using the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.749-752
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• 2003

The HLA is defined by three components: (1) Rules, (2) the HLA Interface Specification, and (3) the Object Model Template(OMT). The RTI(Run-Time Infrastructure) software implements the interface specification. It provides services in a manner that is comparable to the way a distributed operating system provides services to applications. A way to test whether is suitable for a standard, and all service was implemented is tested through two phases of processes to verify the RTI which proposed in DMSO. In this paper, we discuss Level One Test Procedures and a method. Confirms whether RTI was implemented in Interface Specification according to Level One Test Procedures appropriately through a test. Develops Test Suite for every each step to test whether a correct command and the expected results are occur.

• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.705-713
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• 2009

This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.

• Journal of KIISE:Information Networking
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• v.31 no.5
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• pp.511-518
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• 2004

Web Services following distributed object computing technology like DCOM, CORBA provides remote procedure call mechanism based on XML-based open standard such as SOAP, WSDL, UDDI, and it is spotlighted as means of integration and collaboration at e-business. Especially, UDDI is the Web Services Registry enabling to register and search Web Services, that takes charge of providing infrastructure for Web Services. However, the existing UDDI has a few problems that searching process is very simple and it cannot provide information of Web Services quality and quality-based retrieval. Therefore, this study suggest improved UDDI model that evaluates the Web Services quality and use this information for searching.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.36C no.10
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• pp.75-80
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• 1999

Multimedia synchronization model for distributed, continuous or discrete media that was guaranteed high quality of service is requited in developing multimedia application software. In this paper we have specific object controller which is called dynamic key media that is changed by user event generation. This becomes media whose event occurrence and periods can't be predicted. For event occurrence not only audio but also text and image can be chosen for key media and performs its role. Object controller transfers information for next transition. The proposed model offers high qualify of services by permitting maximum allowed jitter and skew in playout time and verified its effectiveness by simulation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.472-475
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• 2008

Generally, a linear vibration theory regards a vibratory system as the superposition of many degrees of vibratory system. Modal analysis stems, in fact, considers the vibration system as what has input, output, and transfer function that relates the input and output. When we want to control, however, the vibratory system, we define, first, the object function that can be vibration energy of certain vibratory system. Then, we try to find the transfer function that can minimize the object function. We can readily extend this approach to control the distributed vibration system. For example, the vibrations of a vehicle, including ships and trains. In this case, we may want to minimize the vibration of the area we select. For example, minimize the vibration of the passengers' seat, but allowing the vibration of other area; for example engines and wheels. This paper introduces a general theory that can control the vibration of the selected area, which can be called as "regional control of vibration." In fact, this is the extended theory of well known sound control of "bright zone"(Choi and Kim, 2002).]. Several illustrative examples demonstrate the applicability and properties that are not available if we use modal analysis method.

• Journal of the Korean Association of Geographic Information Studies
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• v.4 no.2
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• pp.46-60
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• 2001

This study proposes the Web-based GIS system based on distributed object management and conceptualise system architecture and its methods specifications through UML(unified modeling language). By using class diagram and creating prototype based on UML and reverse engineering, our conceptual shape file model is proposed to illustrate an integrated architecture. Through system analysis and software configuration management, this study enables to not only improve pliable capabilities for problematic domains and increase abilities for analytical domains when user requirements are dynamic, but also assist effective and consistent maintenances of large software systems.

• Journal of the Korea Computer Industry Society
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• v.3 no.2
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• pp.167-178
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• 2002

XML documents used for exchanging structured documents between heterogeneous distributed systems are spreading among B2B and the industrial world rapidly. This condition brings an object-oriented visualization tool for modeling XML documents. It is hard to apply for DTD - the rule for declaring document type, which is employed in XML, to various industrial field. Thus, W3C announced Recommendation for XML Schema - the rule for declaring new document type which is adaptable to XML and satisfy to user. Document Type which has high reusability and flexibility can be defined owing to that XML Schema is designed by utilization of Object-Oriented-Modelling technique(UML). This document is proposed the specification and an algorithm for mapping XML Schema to UML.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.3
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• pp.156-165
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• 2005

Human being recognizes the physical world by integrating a great variety of sensory inputs, the information acquired by their own action, and their knowledge of the world using hierarchically parallel-distributed mechanism. In this paper, authors propose the sensor fusion system that can recognize multiple 3D objects from 2D projection images and tactile informations. The proposed system focuses on improving recognition performance of 3D objects. Unlike the conventional object recognition system that uses image sensor alone, the proposed method uses tactual sensors in addition to visual sensor. Neural network is used to fuse the two sensory signals. Tactual signals are obtained from the reaction force of the pressure sensors at the fingertips when unknown objects are grasped by four-fingered robot hand. The experiment evaluates the recognition rate and the number of learning iterations of various objects. The merits of the proposed systems are not only the high performance of the learning ability but also the reliability of the system with tactual information for recognizing various objects even though the visual sensory signals get defects. The experimental results show that the proposed system can improve recognition rate and reduce teeming time. These results verify the effectiveness of the proposed sensor fusion system as recognition scheme for 3D objects.